Brushless motor and wiper apparatus

ABSTRACT

A brushless motor comprises: a stator  21  having armature coils  21   a,    21   b , and  21   c ; a rotor  22  which is rotated by a revolving magnetic field; and a switching element  30   a , wherein the brushless motor has a rotation number control unit  33  which switches between low-speed and high-speed mode, wherein in the low-speed mode, the rotation number control unit  33  supplies current to the armature coils  21   a,    21   b , and  21   c  at predetermined energization timing and controls a duty ratio to control the rotation number of the rotor  22 , and in the high-speed mode, the rotation number control unit  33  supplies current to the armature coils  21   a,    21   b , and  21   c  at energization timing advanced from the energization timing for the low-speed mode, thereby performing field weakening control of weakening the revolving magnetic field from that of the low-speed mode to control the rotation number of the rotor  22.

CROSS REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.14/394,628, filed Oct. 15, 2014, which claims foreign priority benefitsunder U.S.C. §119 from Japanese Patent Application No. JP2012092882filed on Apr. 16, 2012 and from Japanese Patent Application No.JP2013036019 filed on Feb. 26, 2013, and from PCT/JP2013/061336 filed onApr. 16, 2013 the contents of all of which are incorporated by referenceherein.

TECHNICAL FIELD

The present invention relates to a brushless motor having: a rotormounted with permanent magnets; and a stator provided with an armaturecoil, and a wiper motor.

BACKGROUND ART

Conventionally, examples of a motor in which the rotation number of arotor is switchable are disclosed in Japanese Patent ApplicationLaid-Open Publication Nos. JP2007202391, JP2007143278, and JP201093977.The motor described in Japanese Patent Application Laid-Open PublicationNos. JP2007202391 and JP2007143278 has a case, a magnet accommodated inthe case, an armature rotatably provided inside the case and having acoil wound therearound, a shaft which rotates integrally with thearmature, a commutator provided to the shaft, and a high-speed-operationbrush and a low-speed-operation brush each of which is in contact withthe commutator. When a driver operates a switch to select low-speeddriving, a current flows through the low-speed-operation brush to causethe shaft to rotate at a low rotation number. On the other hand, whenthe driver operates the switch to select high-speed driving, a currentflows through the high-speed-operation brush to cause the shaft torotate at a high rotation number.

On the other hand, the motor described in Japanese Patent ApplicationLaid-Open Publication No. JP201093977 has an annular-shaped stator fixedto the inner surface of a yoke housing and having a plurality ofarmature coils wound therearound, a rotor rotatably located inside thestator and having a rotating shaft, and a magnet provided to therotating shaft. In the motor described in this Japanese PatentApplication Laid-Open Publication No. JP201093977, magnetizing currentsdifferent in phase from each other are supplied to the plurality ofarmature coils to generate a revolving magnetic field, thereby causingthe rotor to rotate. Additionally, the motor described in JapanesePatent Application Laid-Open Publication No. JP201093977 does not havebrushes which are described in Japanese Patent Application Laid-OpenPublication Nos. JP2007202391 and JP2007143278.

SUMMARY

Each of the motors described in Patent Documents 1 to 3 is provided witha switching element which controls timing of supplying a current to thearmature coil, regardless of whether it is a brushless motor. And, therotation number of the rotor is controlled by changing a duty ratio forON/OFF control of the switching element. Thus, the composition of themotor is designed so that the rotor can be rotated at high speed, andcontrol is performed in which a duty ratio when the rotor is rotated ata low rotation number is decreased, compared with a duty ratio when therotor is rotated at a high rotation number. Therefore, the compositionof the motor is designed with reference to the case when the rotor isrotated at a high rotation number, thereby posing a problem ofincreasing the composition

An object of the present invention is to provide a brushless motor andwiper apparatus with their composition capable of being reduced as muchas possible.

A brushless motor according to the present invention comprises: a statorhaving an armature coil to which a current is supplied; a rotor which isrotated by a revolving magnetic field formed by the armature coil and isconnected to an operating member; and a switching element provided on aroute for supplying the current to the armature coil, wherein thebrushless motor has a rotation number control unit which controls arotation number of the rotor with at least two control modes differentin rotation number of the rotor from each other, and when a firstcontrol mode is selected from among the control modes, the rotationnumber control unit supplies the current to the armature coil atpredetermined energization timing and controls a duty ratio indicatingan ON ratio of the switching element to control the rotation number ofthe rotor and, when a second control mode is selected from among thecontrol modes, the rotation number control unit supplies the current tothe armature coil at energization timing advanced from the energizationtiming for the first control mode, thereby performing field weakeningcontrol of weakening the revolving magnetic field formed by the armaturecoil with respect to a revolving magnetic field for the first controlmode to control the rotation number of the rotor.

The brushless motor according to the present invention may furthercomprise a speed reduction mechanism provided on a drive powertransmission route from the rotor to the operating member, wherein thespeed reduction mechanism has a structure of reducing an output rotationnumber relative to an input rotation number.

The brushless motor according to the present invention may furthercomprise a rotating direction control unit which rotates the rotorforward and backward by switching a direction of the current to besupplied to the armature coil.

In the brushless motor according to the present invention, a controlboard having the rotation number control unit may be provided, and thespeed reduction mechanism and the control board may be accommodated in acommon housing.

A wiper apparatus comprises: a wiper arm which is an operating memberfor wiping a windshield of a vehicle, wherein the wiper arm is connectedto the rotor of the brushless motor according to any one of the abovepresent inventions.

In the wiper apparatus according to the present invention, a sensormagnet and a rotation number sensor may be provided, the sensor magnetrotating integrally with the rotor, and the rotation number sensoroutputting a signal according to a change in a magnetic pole of thesensor magnet when the rotor rotates, and when performing the fieldweakening control, the rotation number control unit controls therotation number of the rotor by detecting the rotation number of therotor on the basis of a signal from the rotation number sensor, andadvancing the energization timing of the armature coil by an electricalangle of 30 degrees.

According to the present invention (claim 1), the rating of thebrushless motor is determined with reference to the rotation number ofthe rotor in the first control mode, and the rotation number of therotor in the second control mode can be obtained by the field weakeningcontrol. Therefore, the brushless motor can be reduced in size as muchas possible.

According to the present invention (claim 2), the speed reductionmechanism can control the rotation number of the rotor, and amplifyoutput torque with respect to input torque.

According to the present invention (claim 3), the rotor can be rotatedreversely by switching the direction of a current flowing through thearmature coil.

According to the present invention (claim 4), since the speed reductionmechanism and the control board are accommodated in the common housing,the brushless motor can be reduced in size, and it is possible toimprove layoutability when the brushless motor is mounted on a targetsubject.

According to the present invention (claim 5), the windshield of thevehicle can be wiped by transmitting the drive power of the rotor of thebrushless motor to the wiper arm to operate the wiper arm.

According to the present invention (claim 6), when field weakeningcontrol is performed, the rotation number of the rotor can be controlledby detecting the rotation number of the rotor on the basis of a signalfrom the rotation number sensor, and advancing the energization timingto the armature coil by an electrical angle of 30 degrees.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic view showing an example in which a brushless motoraccording to the present invention is applied to a wiper apparatus of avehicle;

FIG. 2 is an external view showing the brushless motor according to thepresent invention;

FIG. 3 is a bottom view showing the brushless motor according to thepresent invention with an undercover removed;

FIG. 4 is a block diagram showing a control system of the brushlessmotor according to the present invention;

FIG. 5 is a diagram showing a relation between rotation number andtorque in the brushless motor;

FIG. 6 is a diagram showing a relation between rotation number andadvance angle in the brushless motor;

FIG. 7 is a diagram showing a relation between efficiency and advanceangle in the brushless motor;

FIG. 8 is a schematic view showing another example in which a brushlessmotor according to the present invention is applied to a wiper apparatusof a vehicle;

FIG. 9 is an external view showing the brushless motor according to thepresent invention;

FIG. 10 is a bottom view showing the brushless motor according to thepresent invention with an undercover removed;

FIG. 11 is a block diagram showing a control system of the brushlessmotor according to the present invention;

FIG. 12 is a diagram showing one example of characteristics of thebrushless motor according to the present invention;

FIG. 13 is a schematic view showing still another example in which abrushless motor according to the present invention is applied to a wiperapparatus of a vehicle;

FIG. 14 is an external view showing the brushless motor according to thepresent invention;

FIG. 15 is a bottom view showing the brushless motor according to thepresent invention with an undercover removed;

FIG. 16 is a block diagram showing a control system of the brushlessmotor according to the present invention;

FIGS. 17A to 17C are diagrams showing examples of first and secondcontrols which are performed by the brushless motor according to thepresent invention;

FIG. 18 is a diagram showing characteristics of the brushless motoraccording to the present invention;

FIG. 19 is a diagram showing a relation between characteristics andelectrical angle of the brushless motor according to the presentinvention;

FIG. 20 is a diagram showing one example of control which is performedon the basis of an operating angle in the brushless motor according tothe present invention;

FIG. 21 is a diagram showing one example of control which is performedon the basis of the rotation number in the brushless motor according tothe present invention;

FIG. 22 is a diagram showing one example of control which is performedon the basis of time in the brushless motor according to the presentinvention;

FIGS. 23A and 23B are lists showing examples of first and secondcontrols which are performed by the brushless motor according to thepresent invention;

FIGS. 24A and 24B are sectional views showing examples of the structureof a rotor for the brushless motor according to the present invention;

FIG. 25 is a schematic view showing one example of the relation betweenrotor and stator in the brushless motor according to the presentinvention;

FIG. 26 is a schematic view showing another example of the relationbetween rotor and stator in the brushless motor according to the presentinvention; and

FIG. 27 is a diagram showing characteristics of the brushless motoraccording to the present invention.

DETAILED DESCRIPTION

Hereinafter, an embodiment of the present invention will be described indetail with reference to the drawings. A vehicle 10 shown in FIG. 1 hasa windshield 11. The vehicle 10 further has a wiper apparatus 12 forwiping the windshield 11. The wiper apparatus 12 has: a wiper arm 14which swings on a pivot shaft 13; and a wiper arm 16 which swings on apivot shaft 15. A wiper blade 17 is mounted on a free end of the wiperarm 14, and a wiper blade 18 is mounted on a free end of the wiper arm16. The wiper apparatus 12 further has a brushless motor 19 as a drivepower source for driving the wiper arms 14 and 16. In this embodiment,the drive power of the brushless motor 19 is transmitted to the wiperarms 14 and 16 via a drive power transmission mechanism 20 composed ofparts such as levers and links.

The brushless motor 19 is constructed as shown in FIGS. 2, 3 and 4. Athree-phase four-pole brushless motor 19 is employed as the brushlessmotor 19 in this embodiment. The brushless motor 19 has a stator 21 anda rotor 22. The brushless motor 19 further has a closed-end cylindricalcase 23, and the stator 21 is provided and fixed to the innercircumference of the case 23. As shown in FIG. 4, the stator 21 hasthree-phase, specifically, U, V, and W-phase armature coils 21 a, 21 b,and 21 c. The rotor 22 is provided inside the stator 21, and the rotor22 has: a rotating shaft 22 a; and four-pole permanent magnets 22 bmounted on the rotating shaft 22 a. A plurality of shaft bearings (notshown) is provided inside the case 23, and the rotating shaft 22 a isrotatably supported by the bearings.

Furthermore, the brushless motor 19 further has a hollow frame 24, andthe frame 24 and the case 23 are fixed by a fastening member (notshown). A substantially half part of the rotating shaft 22 a in a lengthdirection is located inside the case 23, and the remaining part of therotating shaft 22 a is located inside the frame 24. A worm 22 c isformed on the outer circumference of said part of the rotating shaft 22a, located inside the case 23. A worm wheel 25 is provided inside theframe 24. A gear 25 a is formed on the outer circumference of this wormwheel 25, and the gear 25 a and the worm 22 c are engaged with eachother. Furthermore, a sensor magnet 38 is mounted on said remaining partof the rotating shaft 22 a, located inside the frame 24. The sensormagnet 38 rotates integrally with the rotating shaft 22 a. The sensormagnet 38 is magnetized so that N poles and S poles are alternatelyarranged along a circumferential direction of the rotating shaft 22 a.

Furthermore, the worm wheel 25 is configured to rotate integrally withan output shaft 26. The worm 22 c and the gear 25 a collectivelyconstitute a speed reduction mechanism 27 in this embodiment. This speedreduction mechanism 27 is a mechanism for reducing the rotation numberof the output shaft 26 (output rotation number) relative to the rotationnumber of the rotor 22 (input rotation number) when the drive power ofthe rotor 22 is transmitted to the output shaft 26. Furthermore, in FIG.2, an upper part of the frame 24 is provided with a shaft hole (notshown). The worm wheel 25 is fixed to one end part of the output shaft26, the other end part of the output shaft 26 is exposed to the outsidevia the shaft hole of the frame 24, and coupled to the drive powertransmission mechanism 20 as shown in FIG. 1.

An opening 24 a is provided to the opposite side part of the frame 24from the shaft hole. This opening 24 a is formed in order to install theworm wheel 25 and the like in the frame 24. Furthermore, an undercover28 for closing the opening 24 a is provided to the frame 24. Theundercover 28 has a tray shape, and a control board 29 is provided in aspace surrounded by the undercover 28 and the frame 24. One example inwhich the control board 29 is mounted on the undercover 28 is shown inFIG. 2.

As shown in FIG. 4, this control board 29 is provided with a drivingdevice 33 for controlling the brushless motor 19. The driving device 33has an inverter circuit 30 for controlling energization for each of thearmature coils 21 a, 21 b, and 21 c. The inverter circuit 30 isconnected to a terminal (not shown). The frame 24 is provided with aconnector (not shown), and by inserting a socket (not shown) of anelectric wire connected to an external electric power source 31 into theconnector, the external electric power source 31 and the invertercircuit 30 are connected to each other. The external electric powersource 31 is a battery, capacitor, or the like mounted on the vehicle10.

Furthermore, the inverter circuit 30 is provided with a switchingelement 30 a for connecting the armature coils 21 a, 21 b, and 21 c tothe external electric power source 31, and disconnecting them from theexternal electric power source 31. This switching element 30 a iscomposed of, for example, a semiconductor device such as an FET. Morespecifically, the switching element 30 a includes three positive-sideswitching elements corresponding to the U, V, and W-phase and connectedto the positive pole of the external electric power source 31, and threenegative-side switching elements corresponding to the U, V, and W-phaseand connected to the negative-side of the external electric power source31. When the switching element 30 a is connected (turned ON), a currentis supplied from the external electric power source 31 to the armaturecoils 21 a, 21 b, and 21 c. In contrast, when the switching element 30 ais interrupted (turned OFF), a current is not supplied from the externalelectric power source 31 to the armature coils 21 a, 21 b, and 21 c.Furthermore, a control circuit (controller) 32 having a function ofswitching control between ON and OFF of the switching element 30 a isconnected to the inverter circuit 30.

This control circuit 32 is a known microcomputer including a CPU, a RAM,a ROM, and the like. The driving device 33 further has a PWM signalgenerating circuit 34, and a signal from the PWM signal generatingcircuit 34 is inputted to the control circuit 32. This control circuit32 outputs a driving signal for controlling three negative-sideswitching elements, and a PWM signal is superimposed on this drivingsignal. That is, the three negative-side switching elements are drivenby PWM control, so that they are intermittently turned ON in eachenergizing period of time. And by controlling a ratio at which the threenegative-side switching elements are separately turned ON, that is, aduty ratio, the current to be supplied to each of the armature coils 21a, 21 b, and 21 c can be controlled. That is, the energizing period oftime in which electric power is supplied to the armature coils 21 a, 21b, and 21 c can be increased and decreased between 0% to 100% withrespect to a whole energizable period of time. Furthermore, the controlcircuit 32 has stored therein data, program, etc., for control to beperformed at the time of starting the brushless motor 19. The time ofstarting the brushless motor 19 is an initial time of rotating thebrushless motor 19 at a standstill.

Furthermore, an induced voltage detecting unit 35 is connected to anon-wire-bound end of each of the armature coils 21 a, 21 b, and 21 c.The induced voltage detecting unit 35 is a sensor which detects aninduced voltage occurring at each of the armature coils 21 a, 21 b, and21 c in association with the rotation of the rotor 22, and a detectionsignal from the induced voltage detecting unit 35 is inputted to thecontrol circuit 32. The control circuit 32 performs a process ofestimating a rotating position of the rotor 22 (a phase in a rotatingdirection) on the basis of the detection signal inputted from theinduced voltage detecting unit 35.

Furthermore, the brushless motor 19 in this embodiment performsswitching control between ON and OFF of the switching element 30 a toreverse the direction of energization with respect to the armature coils21 a, 21 b, and 21 c, thereby allowing the rotor 22 to rotate forwardand backward.

Furthermore, an output shaft sensor 36, which detects at least one ofthe rotation number and an absolute position of the output shaft 26, isprovided inside the frame 24. The absolute position means a rotationangle of the output shaft 26 with respect to a reference position. Thereference position can be determined at any position within the range of360 degrees. A detection signal from this output shaft sensor 36 isinputted to the control circuit 32. Furthermore, a Hall IC 39 is mountedon the control board 29. The Hall IC 39 is fixed so as to face thesensor magnet 38 in a noncontact manner. With the rotation of the rotor22, the Hall IC 39 performs a switching operation with a change of themagnetic pole of the sensor magnet 38, generating a switching signal (anON/OFF signal). The control circuit 32 can detect the rotation number(rotation speed) of the rotor 22 on the basis of the switching signalfrom the Hall IC 39. Furthermore, a wiper switch 37 is provided in theinterior of the vehicle 10, and an operation signal from the wiperswitch 37 is inputted to the control circuit 32.

In the wiper apparatus 12, the wiper switch 37 is operated by theintention of a driver on the basis of conditions such as the amount ofrainfall, the amount of snowfall, etc., thereby allowing the wipingspeed of the wiper arms 14 and 16 to be switched. When the amount ofrainfall or the amount of snowfall is small, the driver can operate thewiper switch 37 to select a low-speed wiping mode for causing the wiperarms 14 and 16 to operate at a predetermined low speed. In contrast,when the amount of rainfall or the amount of snowfall is large, thedriver can operate the wiper switch 37 to select a high-speed wipingmode for causing the wiper arms 14 and 16 to operate at a speed higherthan the low speed. The driver determines whether the amount of rainfallor the amount of snow fall is large or small on the basis of his or herpersonal point of view, and there is no criterion for distinguishingwhether the amount is large or small. And, patterns, data, arithmeticexpressions, etc., regarding the low-speed wiping mode and thehigh-speed wiping mode are stored in advance in the control circuit 32for controlling the switching element 30 a.

Then, control over the brushless motor 19 in this embodiment will bedescribed hereinafter. When the wiper switch 37 is operated to selectthe low-speed mode, the detection signal from the induced voltagedetecting unit 35 is inputted to the control circuit 32. On the basis ofthe detection signal from the induced voltage detecting unit 35, thecontrol circuit 32 estimates a rotating position (an angle in a rotatingdirection) of the rotor 22, and performs energization control on thebasis of the rotating position of the rotor 22. That is, thepositive-side switching elements are sequentially turned ON by anelectrical angle of 120 degrees, and the negative-side switchingelements with the phase different from that of the positive-sideswitching elements are sequentially turned ON by an electrical angle of120 degrees, thereby switching energization of the armature coils 21 a,21 b, and 21 c of the respective phases to commutate a phase current.

With repetition of the above-described control, a revolving magneticfield is formed by the stator 21 to rotate the rotor 22. Furthermore,the brushless motor 19 has a characteristic in which the rotation numberincreases as the current value increases. Furthermore, the brushlessmotor 19 has a characteristic in which the torque decreases as therotation number increases. When the low-speed wiping mode is selected,duty-ratio control is performed without performing field weakeningcontrol, thereby holding the actual rotation number of the rotor 22close to the required rotation number. Furthermore, when the low-speedwiping mode is selected, a predetermined fixed value is used forenergization timing for each of the armature coils 21 a, 21 b, and 21 c.

On the other hand, when the high-speed wiping mode is selected, fieldweakening control is performed without changing the current to besupplied to the armature coils 21 a, 21 b, and 21 c. the term “fieldweakening control” is intended to mean a control of weakening themagnetic field as much as possible, which is formed by supplying acurrent to the armature coils 21 a, 21 b, and 21 c. As will bespecifically described below, field weakening control is control ofadvancing the energization timing of the armature coils 21 a, 21 b, and21 c by 30 degrees (leading phase), compared with that of the low-speedwiping mode. That is, when the high-speed wiping mode is selected, therevolving magnetic field formed by the armature coils 21 a, 21 b, and 21c is weaker than the revolving magnetic field formed by the armaturecoils 21 a, 21 b, and 21 c in the low-speed wiping mode. When this fieldweakening control is performed, a back electromotive force in thearmature coils 21 a, 21 b, and 21 c is decreased, and the rotationnumber of the rotor 22 is increased. In an advance angle, a relativerelation between the armature coils and the permanent magnets in therotating direction of the rotor 22 is represented by an electricalangle.

FIG. 5 is a diagram showing characteristics of the brushless motor 19.In FIG. 5, the vertical axis is the rotation number of the brushlessmotor 19, and the horizontal axis is the torque of the brushless motor19. Furthermore, a broken line shown in FIG. 5 is an example of alow-speed characteristic corresponding to the low-speed wiping mode, anda solid line shown in FIG. 5 is an example of a high-speedcharacteristic corresponding to the high-speed wiping mode.

In the brushless motor 19 of this embodiment, in order to set itsrating, a setting characteristic exists at, for example, a positionindicated by the solid line so as to obtain the rotation number andtorque corresponding to the low-speed characteristic of FIG. 5.Therefore, when the low-speed wiping mode is selected by an operation ofthe wiper switch 37, the required rotation number and torque can beobtained within a range equal to or lower than the settingcharacteristic.

In contrast, when the high-speed wiping mode is selected by an operationof the wiper switch 37 and the required rotation number and torqueexceed the setting characteristic, the control circuit 32 performs fieldweakening control, thereby allowing the rotation number and torqueexceeding the setting characteristic to be obtained. With this, thecharacteristic of the brushless motor 19 seemingly becomes equivalent tobeing positioned as indicated by a two-dot-chain line in FIG. 5. Thatis, in the brushless motor 19, the rating in design is determined withreference to the low-speed wiping mode, and the brushless motor 19 canbe reduced in size as much as possible. And, torque can be increased byincreasing the rotation number of the brushless motor 19 withoutchanging the current value, which means that a torque constant isrelatively increased. In other words, the brushless motor 19 of thisembodiment can generate high torque as much as possible with less powerconsumption, thereby improving motor efficiency.

FIG. 6 is a diagram showing a relation between the advance angle asenergization timing and the rotation number of the brushless motor 19.In FIG. 6, the horizontal axis represents current, and the vertical axisrepresents the rotation number. As shown in FIG. 6, the rotation numberin the case of an advance angle of 30 degrees is larger than therotation number in the case of an advance angle of 0 degree. The advanceangle of 0 degree is a fixed value of energization timing described inthe low-speed wiping mode. Furthermore, FIG. 7 is a diagram showing arelation between the advance angle as energization timing and theefficiency of the brushless motor 19. In FIG. 7, the horizontal axisrepresents current, and the vertical axis represents efficiency. As inFIG. 7, efficiency in the case of an advance angle of 30 degrees ishigher than efficiency in the case of an advance angle of 0 degree.

Furthermore, in general, the low-speed wiping mode is higher in usefrequency than the high-speed wiping mode in an automotive wiperapparatus. For this reason, when the brushless motor 19 of thisembodiment is used in the wiper apparatus 12, the effect of reducingpower consumption is large when the low-speed wiping mode is selected.

Furthermore, in the brushless motor 19 of this embodiment, when thefield weakening control is performed, the rotating position of the rotor22 can be estimated on the basis of the detection signal from theinduced voltage detecting unit 35. Furthermore, in place of thedetection signal from the induced voltage detecting unit 35, therotating position of the rotor 22 can be estimated on the basis of thedetection signal from the output shaft sensor 36 and the reduction ratioof the speed reduction mechanism 27. As just described, in the brushlessmotor 19 of this embodiment, the rotating position of the rotor 22 canbe estimated by using the induced voltage detecting unit 35 and theoutput shaft sensor 36 provided in advance.

Furthermore, in the brushless motor 19 of this embodiment, the rotationnumber and a torque corresponding to the high-speed characteristic canbe obtained by performing field weakening control, and the brushlessmotor 19 is provided with the speed reduction mechanism 27. Therefore,in the brushless motor 19, the reduction ratio of the speed reductionmechanism 27 can be set so that the characteristic, that is, therotation number and the torque, suitable for the operating condition ofthe wiper arms 14 and 16 of the wiper apparatus 12 can be achieved. Thereduction ratio of the speed reduction mechanism 27 is a value obtainedby dividing the rotation number of the output shaft 26 by the rotationnumber of the rotor 22, and the rotation number of the output shaft 26is decreased the reduction ratio of the speed reduction mechanism 27 isincreased, the torque of the output shaft 26 can be amplified withrespect to the torque of the rotor 22.

Furthermore, in the brushless motor 19 of this embodiment, an advanceangle control at the time of forward and backward rotation of thebrushless motor 19 can be optimized on the basis of the estimation ofthe rotating position of the rotor 22. Furthermore, since the brushlessmotor 19 of this embodiment is not provided with a brush, a commutator(commutator), etc., friction torque due to sliding between a brush and acommutator does not occur, thereby preventing a decrease in efficiencyof the motor and an increase in temperature of the brush and avoidingrestriction of motor output. Furthermore, in the brushless motor 19 ofthis embodiment, noise and operation sound due to the presence of thebrush can be prevented, and silence can be ensured.

Furthermore, in the brushless motor 19 of this embodiment, both thecontrol board 29 and the speed reduction mechanism 27 are provided inthe space surrounded by the frame 24 and the undercover 28, that is,mechanically and electrically integral structure. Therefore, the entirebrushless motor 19 can be configured as being compact, and layoutabilitywhen the brushless motor 19 is mounted on a vehicle body can beimproved.

Furthermore, in the brushless motor 19 of this embodiment, when thehigh-speed mode is selected to perform field weakening control, thecontrol circuit 32 performs control of detecting the rotation number ofthe rotor 22 on the basis of the ON/OFF signal from the Hall IC 39.Furthermore, the rotation number of the rotor 22 can be controlled byadvancing the energization timing to the armature coils 21 a, 21 b, and21 c by an electrical angle of 30 degrees.

In particular, in the wiper apparatus 12, a time required from the timewhen the wiper arms 14 and 16 start operation from their initialpositions to the time when they return via backward positions to theinitial positions is desired to be kept constant. On the other hand,there is a possibility that, due to conditions such as wind resistancecaused by vehicle speed and wiping resistances of the wiper blades 17and 18, the actual wiping speed of the wiper arms 14 and 16 is changedto change the required time. Thus, concurrently with field weakeningcontrol, control of changing the duty ratio can be performed. As will bespecifically described below, the control circuit 32 indirectly finds anactual wiping speed of the wiper arms 14 and 16 on the basis of thesignal from the Hall IC 39. And, in performing feedback control, thecontrol circuit 32 controls the duty ratio so that the actual wipingspeed of the wiper arms 14 and 16 is close to a target wiping speed.With this, by controlling the duty ratio during a period from the timewhen previous energization timing control is performed to the time whennext energization timing control is performed, the wiping speed of thewiper arms 14 and 16 can be finely controlled.

Here, a relation between the structure described in this embodiment andthe structure of the present invention will be described. The drivingdevice 33 having the control circuit 32 corresponds to a rotation speedcontrol unit and a rotating direction control unit of the presentinvention, the frame 24 and the undercover 28 correspond to a housing ofthe present invention, the windshield 11 corresponds to a windshield ofthe present invention, the wiper arms 14 and 16 correspond to anoperating member of the present invention, the switching element 30 acorresponds to a switch of the present invention, and the Hall IC 39corresponds to a rotation speed sensor of the present invention.Furthermore, the low-speed wiping mode corresponds to a first controlmode of the present invention, and the high-speed wiping modecorresponds to a second control mode of the present invention.

It goes without saying that the present invention is not limited to theabove-described embodiment, and can be variously modified within a rangenot deviating from the gist of the invention. For example, the wiperswitch is not limited to the one operated by operation of the driver,and may be a detection switch having a function of detecting the amountof rainfall, the amount of snowfall, etc. With the structured describedabove, the rotation speed control unit automatically starts the wiperapparatus on the basis of the amount of rainfall, the amount ofsnowfall, etc., and performs control of automatically switching betweenthe low-speed mode and the high-speed mode. In this case, the rotationspeed control unit has stored in advance therein data such as the amountof rainfall, the amount of snowfall, etc., which serve as a referencefor switching between the low-speed mode and the high-speed mode.Furthermore, the number of armature coils and the number of permanentmagnets can be changed at will.

Furthermore, the wiper apparatus is not limited to the one which wipesthe front windshield, but may be one which wipes a rear windshield.Furthermore, the wiper apparatus may have a structure in which the wiperarms swing by taking the output shaft as a pivot. Furthermore, the wiperapparatus may be configured so that the two wiper arms are respectivelydriven by separate brushless motors. Furthermore, the brushless motor ofthis embodiment may be an IPM (Interior Permanent Magnet)-type motorwith a structure having permanent magnets buried in an iron core.

Furthermore, the number of modes that can be selected by the wiperswitch are not limited to two, that is, the low-speed wiping mode andthe high-speed wiping mode, but may be three or more. For example, thenumber of modes for controlling the rotation number of the rotor may bethree, that is, a low-speed wiping mode, an intermediate-speed wipingmode, and a high-speed wiping mode. Here, the rotation number of therotor in the middle-speed wiping mode is larger than the rotation numberof the rotor in the low-speed wiping mode, and is smaller than therotation number of the rotor in the high-speed wiping mode.

And, when the low-speed wiping mode is selected from among three wipingmodes, the rotation speed control unit supplies a current to thearmature coils at predetermined energization timing, and controls theduty ratio, which is an ON ratio of the switching element, to controlthe rotation number of the rotor. Furthermore, when theintermediate-speed wiping control mode is selected, a current issupplied to the armature coils at an energization timing obtained byadvancing more than the energization timing when the low-speed wipingcontrol mode is selected. With this, field weakening control ofweakening the revolving magnetic field formed by the armature coils morethan that when the low-speed wiping control mode is selected, therebyallowing the rotation number of the rotor to be controlled. As such,when the rotation number of the rotor is varied between the low-speedwiping mode and the intermediate-speed wiping mode, the low-speed wipingmode corresponds to the first control mode in the present invention, andthe intermediate-speed wiping mode corresponds to the second controlmode in the present invention.

On the other hand, when the intermediate-speed wiping mode is selectedfrom among three wiping modes, the rotation speed control unit suppliesa current to the armature coils at predetermined energization timing,and controls the duty ratio which is an ON ratio of the switchingelement, to control the rotation number of the rotor. In contrast, whenthe high-speed wiping control mode is selected, a current is supplied tothe armature coils at an energization timing obtained by advancing morethan the energization timing when the intermediate-speed wiping controlmode is selected. With this, field weakening control of weakening therevolving magnetic field formed by the armature coils more than thatwhen the intermediate-speed wiping control mode is selected, therebyallowing the rotation number of the rotor to be controlled. As such,when the rotation number of the rotor is varied between theintermediate-speed wiping mode and the high-speed wiping mode, theintermediate-speed wiping mode corresponds to the first control mode inthe present invention, and the high-speed wiping mode corresponds to thesecond control mode in the present invention.

Furthermore, the brushless motor of the present invention can be appliedto an inner rotor type brushless motor having the rotor located insidethe stator or an outer rotor type brushless motor having the rotorplaced outside the stator. Furthermore, the brushless motor of thisembodiment can be used in a convenient-and-comfortable-type deviceprovided in a vehicle, for example, a power sliding door device, a sunroof device, or a power window device, as a drive power source foroperating an operating member such as door, roof, or glass.

Hereinafter, another embodiment of the present invention will bedescribed in detail with reference to the drawings. A vehicle 110 shownin FIG. 8 has a windshield 111. The vehicle 110 further has a wiperapparatus 112 for wiping the windshield 111. The wiper apparatus 112has: a wiper arm 114 which swings on a pivot shaft 113; and a wiper arm116 which swings on a pivot shaft 115. A wiper blade 117 is mounted on afree end of the wiper arm 114, and a wiper blade 118 is mounted on afree end of the wiper arm 116. The wiper apparatus 112 further has abrushless motor 119 as a drive power source for driving the wiper arms114 and 116. In this embodiment, the drive power of the brushless motor119 is transmitted to the wiper arms 114 and 116 via a drive powertransmission mechanism 120 composed of parts such as levers and links.

The brushless motor 119 is constructed as shown in FIGS. 9, 10 and 11. Athree-phase four-pole brushless motor 119 is employed as the brushlessmotor 119 in this embodiment. The brushless motor 119 has a stator 121and a rotor 122. The brushless motor 119 further has a closed-endcylindrical case 123, and the stator 121 is provided and fixed to theinner circumference of the case 123. As shown in FIG. 11, the stator 121has three-phase, specifically, U, V, and W-phase armature coils 121 a,121 b, and 121 c. As shown in FIG. 10, the rotor 122 is provided insidethe stator 121. The rotor 122 has: a rotating shaft 122 a; and four-polepermanent magnets 122 b mounted on the rotating shaft 122 a.Additionally, in FIG. 4, for sake of simplicity, the rotating shaft 122is omitted. A plurality of shaft bearings (not shown) is provided insidethe case 123, and the rotating shaft 122 a is rotatably supported by thebearings.

Furthermore, the brushless motor 119 further has a hollow frame 124, andthe frame 124 and the case 123 are fixed by a fastening member (notshown). A substantially half part of the rotating shaft 122 a in alength direction is located inside the case 123, and the remaining partof the rotating shaft 122 a is located inside the frame 124. A worm 122c is formed on the outer circumference of said part of the rotatingshaft 122 a, located inside the case 123. A worm wheel 125 is providedinside the frame 124. A gear 125 a is formed on the outer circumferenceof this worm wheel 125, and the gear 125 a and the worm 122 c areengaged with each other. Furthermore, a sensor magnet 138 is mounted onsaid remaining part of the rotating shaft 122 a, located inside theframe 124. The sensor magnet 138 rotates integrally with the rotatingshaft 122 a. The sensor magnet 138 is magnetized so that N poles and Spoles are alternately arranged along a circumferential direction of therotating shaft 122 a.

Furthermore, the worm wheel 125 is configured to rotate integrally withan output shaft 126. The worm 122 c and the gear 125 a collectivelyconstitute a speed reduction mechanism 127 in this embodiment. Thereduction ratio of this speed reduction mechanism 127 is a mechanism forreducing the rotation speed of the output shaft 126 relative to therotation speed of the rotor 122 when the drive power of the rotor 122 istransmitted to the output shaft 126. Furthermore, in FIG. 9, an upperpart of the frame 124 is provided with a shaft hole (not shown). Theworm wheel 125 is fixed to one end part of the output shaft 126, theother end part of the output shaft 126 is exposed to the outside via theshaft hole of the frame 124, and coupled to the drive power transmissionmechanism 120 as shown in FIG. 8.

An opening 124 a is provided to the opposite side part of the frame 124from the shaft hole. This opening 124 a is formed in order to installthe worm wheel 125 and the like in the frame 124. Furthermore, anundercover 128 for closing the opening 124 a is provided to the frame124. The undercover 128 has a tray shape, and a control board 129 isprovided in a space surrounded by the undercover 128 and the frame 124.One example in which the control board 129 is mounted on the undercover128 is shown in FIG. 8.

As shown in FIG. 11, this control board 129 is provided with a drivingdevice 133 for controlling the brushless motor 119. The driving device133 has an inverter circuit 130 for controlling energization for each ofthe armature coils 121 a, 121 b, and 121 c. The inverter circuit 130 isconnected to a terminal (not shown). The frame 124 is provided with aconnector (not shown), and by inserting a socket (not shown) of anelectric wire connected to an external electric power source 131 intothe connector, the external electric power source 131 and the invertercircuit 130 are connected to each other. The external electric powersource 131 is a battery, capacitor, or the like mounted on the vehicle110.

Furthermore, the inverter circuit 130 is provided with a switchingelement 130 a for connecting the armature coils 121 a, 121 b, and 121 cto the external electric power source 131, and disconnecting them fromthe external electric power source 131. This switching element 130 a iscomposed of, for example, a semiconductor device such as an FET. Morespecifically, the switching element 130 a includes three positive-sideswitching elements corresponding to the U, V, and W-phase and connectedto the positive pole of the external electric power source 131, andthree switching elements corresponding to the U, V, and W-phase andconnected to the negative-side of the external electric power source131. Furthermore, a control circuit (controller) 132 having a functionof switching control between ON and OFF of the switching element 130 ais connected to the inverter circuit 130.

This control circuit 132 is a known microcomputer including a CPU, aRAM, a ROM, and the like. The driving device 133 further has a PWMsignal generating circuit 134, and a signal from the PWM signalgenerating circuit 134 is inputted to the control circuit 132. Thiscontrol circuit 132 outputs a driving signal for controlling threenegative-side switching elements, and a PWM signal is superimposed onthis driving signal. That is, the three negative-side switching elementsare driven by PWM control, so that they are intermittently turned ON ineach energizing period of time. And by controlling a ratio at which thethree negative-side switching elements are separately turned ON, thatis, a duty ratio, the current to be supplied to each of the armaturecoils 121 a, 121 b, and 121 c can be controlled. Furthermore, thecontrol circuit 132 has stored therein data, program, etc., for controlto be performed at the time of starting the brushless motor 119. Thetime of starting the brushless motor 119 is an initial time of rotatingthe brushless motor 119 at a standstill.

Furthermore, an induced voltage detecting unit 135 is connected to anon-wire-bound end of each of the armature coils 121 a, 121 b, and 121c. The induced voltage detecting unit 135 is a sensor which detects aninduced voltage occurring at each of the armature coils 121 a, 121 b,and 121 c in association with the rotation of the rotor 122, and adetection signal from the induced voltage detecting unit 135 is inputtedto the control circuit 132. The control circuit 132 performs a processof estimating a rotating position of the rotor 122 (a phase in arotating direction) on the basis of the detection signal inputted fromthe induced voltage detecting unit 135.

Furthermore, the brushless motor 119 in this embodiment performsswitching control between ON and OFF of the switching element 130 a toreverse the direction of energization with respect to the armature coils121 a, 121 b, and 121 c, thereby allowing the rotor 122 to rotateforward and backward. When the switching element 130 a is turned ON, theexternal electric power source 131 is connected to the armature coils121 a, 121 b, and 121 c, and when the switching element 130 a is turnedOFF, the external electric power source 131 is disconnected to thearmature coils 121 a, 121 b, and 121 c.

Furthermore, an output shaft sensor 136, which detects at least one ofthe rotation number and an absolute position of the output shaft 126, isprovided inside the frame 124. The absolute position means a rotationangle of the output shaft 126 with respect to a reference position. Thereference position can be determined at any position within the range of360 degrees. A detection signal from this output shaft sensor 136 isinputted to the control circuit 132. Furthermore, a Hall IC 139 ismounted on the control board 129. The Hall IC 139 is fixed so as to facethe sensor magnet 138 in a noncontact manner. With the rotation of therotor 122, the Hall IC 139 performs a switching operation with a changeof the magnetic pole of the sensor magnet 138, generating a switchingsignal (an ON/OFF signal). The control circuit 132 can detect therotation number (rotation speed) of the rotor 122 on the basis of theswitching signal from the Hall IC 139. Furthermore, a wiper switch 137is provided in the interior of the vehicle 110, and an operation signalfrom the wiper switch 137 is inputted to the control circuit 132.

In the wiper apparatus 112, on the basis of conditions such as theamount of rainfall, the amount of snowfall, etc., the wiping speed ofthe wiper arms 114 and 116 can be switched. For example, when the amountof rainfall or the amount of snowfall is small, the wiper switch 137 isoperated to select a low-speed wiping mode for causing the wiper arms114 and 116 to operate at a predetermined low speed. In contrast, whenthe amount of rainfall or the amount of snowfall is large, the wiperswitch 137 is operated to select a high-speed wiping mode for causingthe wiper arms 114 and 116 to operate at a speed higher than the lowspeed. For this reason, patterns, data, arithmetic expressions, etc.,regarding the low-speed wiping mode and the high-speed wiping mode arestored in advance in the control circuit 132 for controlling theswitching element 130 a.

Then, control over the brushless motor 119 in this embodiment will bedescribed hereinafter. When the wiper switch 137 is operated to selectthe low-speed mode, the detection signal from the induced voltagedetecting unit 135 is inputted to the control circuit 132. On the basisof the detection signal from the induced voltage detecting unit 135, thecontrol circuit 132 estimates a rotating position (an angle in arotating direction) of the rotor 122, and performs energization controlon the basis of the rotating position of the rotor 122. That is, thepositive-side switching elements are sequentially turned ON by anelectrical angle of 120 degrees, and the negative-side switchingelements with the phase different from that of the positive-sideswitching elements are sequentially turned ON by an electrical angle of120 degrees, thereby switching energization of the armature coils 121 a,121 b, and 121 c of the respective phases to commutate a phase current.

With repetition of the above-described control, a revolving magneticfield is formed by the stator 121 to rotate the rotor 122. Furthermore,the brushless motor 119 has a characteristic in which the rotationnumber increases as the current value increases. Furthermore, thebrushless motor 119 has a characteristic in which the torque decreasesas the rotation number increases. When the low-speed wiping mode isselected, duty-ratio control is performed without performing fieldweakening control, thereby holding the actual rotation number of therotor 122 close to the required rotation number.

On the other hand, when the high-speed wiping mode is selected, fieldweakening control is performed without changing the current to besupplied to the armature coils 121 a, 121 b, and 121 c. In the fieldweakening control, energization timing for each of the armature coils121 a, 121 b, and 121 c is advanced by an electrical angle of 30 degreeswith respect to that of the low-speed wiping mode. The term “fieldweakening control” is intended to mean a control of weakening themagnetic field as much as possible, which is formed by supplying acurrent to the armature coils 121 a, 121 b, and 121 c. When this fieldweakening control is performed, a back electromotive force in thearmature coils 121 a, 121 b, and 121 c is decreased, and the rotationnumber of the rotor 122 is increased.

FIG. 12 is a diagram showing characteristics of the brushless motor 119.In FIG. 12, the vertical axis is the rotation number of the brushlessmotor 119, and the horizontal axis is the torque of the brushless motor119. Furthermore, a broken line shown in FIG. 12 is an example of alow-speed characteristic corresponding to the low-speed wiping mode, anda solid line shown in FIG. 12 is an example of a high-speedcharacteristic corresponding to the high-speed wiping mode.

In the brushless motor 119 of this embodiment, in order to set itsrating, a setting characteristic exists at, for example, a positionindicated by the solid line so as to obtain the rotation number andtorque corresponding to the low-speed characteristic of FIG. 12.Therefore, when the low-speed wiping mode is selected by an operation ofthe wiper switch 137, the required rotation number and torque can beobtained within a range equal to or lower than the settingcharacteristic.

In contrast, when the high-speed wiping mode is selected by an operationof the wiper switch 137 and the required rotation number and torqueexceed the setting characteristic, the control circuit 132 performsfield weakening control, thereby allowing the rotation number and torqueexceeding the setting characteristic to be obtained. With this, thecharacteristic of the brushless motor 119 seemingly becomes equivalentto being positioned as indicated by a two-dot-chain line in FIG. 12.And, torque can be increased by increasing the rotation number of thebrushless motor 119 without changing the current value, which means thata torque constant is relatively increased. In other words, the brushlessmotor 119 of this embodiment can generate high torque as much aspossible with less power consumption, thereby improving motorefficiency.

Furthermore, in general, the low-speed wiping mode is higher in usefrequency than the high-speed wiping mode in an automotive wiperapparatus. For this reason, when the brushless motor 119 of thisembodiment is used in the wiper apparatus 112, the effect of reducingpower consumption is large when the low-speed wiping mode is selected.In the brushless motor of this embodiment, it is not necessary todetermine the rating in design of the brushless motor 119 with referenceto the high-speed wiping mode, and the brushless motor 219 can bereduced in size as much as possible.

Furthermore, in the brushless motor 119 of this embodiment, when thefield weakening control is performed, the rotating position of the rotor122 can be estimated on the basis of the detection signal from theinduced voltage detecting unit 135. Furthermore, in place of thedetection signal from the induced voltage detecting unit 135, therotating position of the rotor 122 can be estimated on the basis of thedetection signal from the output shaft sensor 136 and the reductionratio of the speed reduction mechanism 127. As just described, in thebrushless motor 119 of this embodiment, the rotating position of therotor 122 can be estimated by using the induced voltage detecting unit135 and the output shaft sensor 136 provided in advance. It is notnecessary to provide a special sensor for detecting a rotating positionof the rotor 22, that is, the brushless motor of this embodiment has asensorless structure. Therefore, the brushless motor of this embodimentcan be reduced in the number of parts and production cost.

Furthermore, in the brushless motor 119 of this embodiment, the rotationnumber and a torque corresponding to the high-speed characteristic canbe obtained by performing field weakening control, and the brushlessmotor 119 is provided with the speed reduction mechanism 127. Therefore,in the brushless motor 119, the reduction ratio of the speed reductionmechanism 127 can be set so that the characteristic, that is, therotation number and the torque, suitable for the operating condition ofthe wiper arms 114 and 116 of the wiper apparatus 112 can be achieved.The reduction ratio of the speed reduction mechanism 127 is a valueobtained by dividing the rotation number of the output shaft 126 by therotation number of the rotor 122, and the rotation number of the outputshaft 126 is decreased, the reduction ratio of the speed reductionmechanism 127 is increased.

Furthermore, in the brushless motor 119 of this embodiment, an advanceangle control at the time of forward and backward rotation of thebrushless motor 119 can be optimized on the basis of the estimation ofthe rotating position of the rotor 122. Furthermore, since the brushlessmotor 119 of this embodiment is not provided with a brush, a commutator(commutator), etc., friction torque due to sliding between a brush and acommutator does not occur, thereby preventing a decrease in efficiencyof the motor. Furthermore, in the brushless motor 119 of thisembodiment, noise due to the presence of the brush can be prevented.

Furthermore, the brushless motor 119 of this embodiment has a structurein which both the control board 129 and the speed reduction mechanism127 are placed in the space surrounded by the frame 124 and theundercover 128, that is, a mechanically and electrically integralstructure. Therefore, the entire brushless motor 119 can be configuredas being compact, and layoutability when the brushless motor 119 ismounted on a vehicle body can be improved.

Furthermore, in the brushless motor 119 of this embodiment, the controlcircuit 132 has a function of, when performing field weakening control,performing control of detecting the rotation number of the rotor 122 onthe basis of the ON/OFF signal from the Hall IC 139 and controlling therotation number of the rotor 122 by advancing the energization timing tothe armature coils 121 a, 121 b, and 121 c by an electrical angle of 30degrees.

Here, a relation between the structure described in this embodiment andthe structure of the present invention will be described. The drivingdevice 133 having the control circuit 132 corresponds to a firstrotation speed control unit, a second rotating direction control unit, arotating position estimating unit, and a rotating direction control unitof the present invention; the frame 124 and the undercover 128correspond to the housing of the present invention; the windshield 111corresponds to the glass of the present invention; the wiper arms 114and 116 correspond to the operating member of the present invention; andthe Hall IC 139 corresponds to a switching element of the presentinvention. Furthermore, the characteristics represented by the rotationnumber and torque in FIG. 12 correspond to characteristics of thebrushless motor in the present invention.

It goes without saying that the present invention is not limited to theabove-described embodiment and can be variously modified within a rangenot deviating from the gist of the invention. For example, the wiperapparatus 112 is not limited to the one which wipes the windshield 111,but may be one which wipes a rear windshield. Furthermore, while thewiper arms 114 and 116 are coupled to the output shaft 126 via the drivepower transmission mechanism 120 in the wiper apparatus 112 shown inFIG. 8, the wiper arms may be configured to be coupled directly to theoutput shaft. Furthermore, while the wiper apparatus 112 shown in FIG. 8is configured in a manner such that the wiper arms 114 and 116 aredriven by the single brushless motor 119, the two wiper arms may beconfigured to be respectively driven by separate brushless motors.Furthermore, the brushless motor of this embodiment may be an IPM(Interior Permanent Magnet)-type motor with a structure having permanentmagnets buried in an iron core. Furthermore, the number of modes thatcan be selected by the wiper switch are not limited to two, that is, thelow-speed wiping mode and the high-speed wiping mode, but may be threeor more. Furthermore, the number of armature coils and the number ofpermanent magnets can be changed at will.

Furthermore, the brushless motor according to the present invention canbe applied to a brushless motor in an inner rotor shape having a rotorlocated inside the stator or a brushless motor in an outer rotor shapehaving a rotor placed outside the stator. Furthermore, the brushlessmotor of this embodiment can be used in aconvenient-and-comfortable-type device provided in a vehicle, forexample, a power sliding door device, a sun roof device, or a powerwindow device, as a drive power source for operating an operating membersuch as door, roof, or windshield.

Hereinafter, still another embodiment of the present invention will bedescribed in detail with reference to the drawings. A vehicle 210 shownin FIG. 13 has a windshield 211. The vehicle 210 further has a wiperapparatus 12 for wiping the windshield 211. The wiper apparatus 212 has:a wiper arm 214 which swings on a pivot shaft 213; and a wiper arm 216which swings on a pivot shaft 215. A wiper blade 217 is mounted on afree end of the wiper arm 214, and a wiper blade 218 is mounted on afree end of the wiper arm 216. The wiper apparatus 212 further has abrushless motor 219 as a drive power source for driving the wiper arms214 and 216. In this embodiment, the drive power of the brushless motor219 is transmitted to the wiper arms 214 and 216 via a drive powertransmission mechanism 220 composed of parts such as levers and links.

The brushless motor 219 is constructed as shown in FIGS. 14, 15 and 16.The brushless motor 219 is a three-phase direct current motor 219, and athree-phase four-pole brushless motor 219 is employed as the brushlessmotor 219 in this embodiment. The brushless motor 219 has a stator 221and a rotor 222. The brushless motor 219 further has a closed-endcylindrical case 223, and the stator 221 is provided and fixed to theinner circumference of the case 223. As shown in FIG. 16, the stator 221has winding wires, that is, armature coils 221 a, 221 b, and 221 ccorresponding to three-phase, specifically, U, V, and W-phase.Specifically, three armature coils are connected to each other so as toform Y-connection, that is, one ends of the three-phase armature coils221 a are connected at a neutral point. Furthermore, this brushlessmotor 219 is a bipolar type brushless motor in which each of thearmature coils functions as both positive and negative pole. The rotor222 is provided inside the stator 221, and the rotor 222 has: a rotorshaft 222 a; and four-pole permanent magnets 222 b mounted on the rotorshaft 222 a. A plurality of shaft bearings is provided inside the case223, and the rotor shaft 222 a is rotatably supported by the bearings.

Furthermore, the brushless motor 219 further has a hollow frame 224, andthe frame 224 and the case 223 are fixed by a fastening member (notshown). A substantially half part of the rotor shaft 222 a in a lengthdirection is located inside the case 223, and the remaining part of therotor shaft 222 a is located inside the frame 224. A worm 222 c isformed on the outer circumference of said part of the rotor shaft 222 a,located inside the case 223. A worm wheel 225 is provided inside theframe 224. A gear 225 a is formed on the outer circumference of thisworm wheel 225, and the gear 225 a and the worm 222 c are engaged witheach other. Furthermore, a sensor magnet 238 is mounted on saidremaining part of the rotor shaft 222 a, located inside the frame 224.The sensor magnet 238 rotates integrally with the rotor shaft 222 a. Thesensor magnet 238 is magnetized so that N poles and S poles arealternately arranged along a circumferential direction of the rotorshaft 222 a.

Furthermore, the worm wheel 225 is configured to rotate integrally withan output shaft 226. The worm 222 c and the gear 225 a collectivelyconstitute a speed reduction mechanism 227 in this embodiment. Thisspeed reduction mechanism 227 is a mechanism for reducing the rotationnumber of the output shaft 226 (output rotation number) relative to therotation number of the rotor 222 (input rotation number) when the drivepower of the rotor 222 is transmitted to the output shaft 226. Therotation number of the rotor 222 is an input rotation number, and therotation number of the output shaft is an output rotation number.Furthermore, in FIG. 14, an upper part of the frame 224 is provided witha shaft hole (not shown), and the output shaft 226 is inserted into theshaft hole. The worm wheel 225 is fixed to one end part of the outputshaft 226, the other end part of the output shaft 226 is exposed to theoutside of the frame 224, and coupled to the drive power transmissionmechanism 220.

An opening 224 a is provided to the opposite side part of the frame 224from the shaft hole. This opening 224 a is formed in order to installthe worm wheel 225 and the like in the frame 224. Furthermore, anundercover 228 for closing the opening 224 a is provided to the frame224. The undercover 228 has a tray shape, and a control board 229 isprovided in a space surrounded by the undercover 228 and the frame 224.One example in which the control board 229 is mounted on the undercover228 is shown in FIG. 14.

As shown in FIG. 16, this control board 229 is provided with a controlunit for controlling the brushless motor 219, that is, a driving device233 as a controller. The driving device 233 has an inverter circuit 230for controlling energization for each of the armature coils 221 a, 221b, and 221 c. The inverter circuit 230 is connected to a terminal (notshown). The frame 224 is provided with a connector, and by inserting asocket of an electric wire connected to an external electric powersource 231 into the connector, the external electric power source 231and the inverter circuit 230 are connected to each other. The externalelectric power source 231 is a battery, capacitor, or the like mountedon the vehicle 210.

Furthermore, the inverter circuit 230 is provided with a switchingelement 230 a for connecting the armature coils 221 a, 221 b, and 221 cto the external electric power source 231, and disconnecting them fromthe external electric power source 231. This switching element 230 a iscomposed of, for example, a semiconductor device such as an FET. Morespecifically, the switching element 230 a includes three positive-sideswitching elements corresponding to the U, V, and W-phase and connectedto the positive pole of the external electric power source 231, andthree negative-side switching elements corresponding to the U, V, andW-phase and connected to the negative-side of the external electricpower source 231. That is, six switching elements are provided in all.When the switching element 230 a is connected, that is, turned ON, acurrent is supplied from the external electric power source 231 to thearmature coils 221 a, 221 b, and 221 c. In contrast, when the switchingelement 230 a is interrupted, that is, turned OFF, a current is notsupplied from the external electric power source 231 to the armaturecoils 221 a, 221 b, and 221 c. Furthermore, a control circuit 232 forswitching between ON and OFF of the switching element 230 a is connectedto the inverter circuit 230.

This control circuit 232 is a known microcomputer including a CPU, aRAM, a ROM, and the like. The driving device 233 further has a PWMsignal generating circuit 234, and a signal from the PWM signalgenerating circuit 234 is inputted to the control circuit 232. Thiscontrol circuit 232 outputs a driving signal for controlling threenegative-side switching elements, and a PWM signal is superimposed onthis driving signal. That is, the three negative-side switching elementsare driven by PWM control, so that they are intermittently turned ON ineach energizing period of time. And by controlling a ratio at which thethree negative-side switching elements are separately turned ON, thatis, a duty ratio, the current to be supplied to each of the armaturecoils 221 a, 221 b, and 221 c can be controlled. That is, the energizingperiod of time in which electric power is supplied to the armature coils221 a, 221 b, and 221 c can be increased and decreased between 0% to100% with respect to a whole energizable period of time. Furthermore,the control circuit 232 has stored therein data, program, etc., forcontrol to be performed at the time of starting the brushless motor 219.The time of starting the brushless motor 219 is an initial time ofrotating the brushless motor 219 at a standstill.

Furthermore, an induced voltage detecting unit 235 is connected to anon-wire-bound end of each of the armature coils 221 a, 221 b, and 221c. The induced voltage detecting unit 235 is a sensor which detects aninduced voltage occurring at each of the armature coils 221 a, 221 b,and 221 c in association with the rotation of the rotor 222, and adetection signal from the induced voltage detecting unit 235 is inputtedto the control circuit 232. The control circuit 232 performs a processof estimating a rotating position of the rotor 222, that is, a phase ina rotating direction on the basis of the detection signal inputted fromthe induced voltage detecting unit 235.

Furthermore, a Hall IC 239 is mounted on the control board 229. The HallIC 239 is fixed so as to face the sensor magnet 239 in a non-contactmanner. With the rotation of the rotor shaft 222 a, the Hall IC 239performs a switching operation with a change of the magnetic pol of thesensor magnet 238, generating a switching signal, that is, an ON/OFFsignal. Note that a plurality of, for example, three, Hall ICs 239 canbe provided along the rotating direction of the rotor shaft 222. Thecontrol circuit 232 detects the rotation number and the rotation angleof the rotor shaft 222 on the basis of the switching signal from theHall IC 239. Furthermore, an output shaft sensor 236 which detects therotation angle and the rotation number of the output shaft 226 isprovided. A detection signal from the output shaft sensor 236 isinputted to the control circuit 232. Furthermore, a wiper switch 237 isprovided in the interior of the vehicle 210, and the embodiment isconfigured so that an operation signal from the wiper switch 237 isinputted to the control circuit 232. Furthermore, a vehicle-speed sensor240 is provided, and a signal from the vehicle-speed sensor 240 isinputted to the control circuit 232. The vehicle-speed sensor 240 is asensor which detects a traveling speed of the vehicle 210.

Then, control over the brushless motor 219 in this embodiment will bedescribed hereinafter. On the basis of the detection signal from theinduced voltage detecting unit 235, the control circuit 232 estimates arotating and direction and position, that is, an angle in a rotatingdirection of the rotor shaft 222 a, and performs energization control onthe basis of the rotating position of the rotor shaft 222 a. That is,the positive-side switching elements are sequentially turned ON by apredetermined electrical angle, and the negative-side switching elementswith the phase different from that of the positive-side switchingelements are sequentially turned ON and OFF by a predeterminedelectrical angle, thereby switching energization of the armature coils221 a, 221 b, and 221 c of the respective phases to commutate a phasecurrent. With repetition of the above-described control, a revolvingmagnetic field is formed by the stator 21 to rotate the rotor 22.

Furthermore, the brushless motor 219 in this embodiment performsswitching control between ON and OFF of the switching element 230 a toreverse the direction of energization of the armature coils 221 a, 221b, and 221 c, thereby allowing the rotor shaft 222 a to rotatepositively, stop, and rotate backward. The wiper arms 214 and 216 makereciprocating motions with drive power of the rotor shaft 222 a withinthe range of a predetermined angle, and the windshield 211 is wiped bythe wiper blades 217 and 218.

Furthermore, in controlling the rotation number of the rotor shaft 222,the brushless motor 219 in this embodiment can perform field weakeningcontrol. Field weakening control is control of weakening a magneticfield as much as possible, the magnetic field formed by supplying acurrent to the armature coils 221 a, 221 b, and 221 c. As will bespecifically described below, field weakening control is control ofadvancing the energization timing of the armature coils 221 a, 221 b,and 221 c by 30 degrees (leading phase) compared with normalenergization timing. That is, the control takes a leading phase. Whenfield weakening control is performed, a back electromotive force in thearmature coils 221 a, 221 b, and 221 c is decreased, and the rotationnumber of the rotor shaft 222 is increased.

Furthermore, in controlling outputs, that is, the rotation number andtorque, of the rotor shaft 222 a, the brushless motor 219 of thisembodiment can switch between first control and second control. Anexample of a condition for switching between the first control and thesecond control can be a travelling speed of the vehicle 210. The controlcircuit 232 has stored in advance therein a reference vehicle speedserving as a threshold value for switching between the first control andthe second control. And, when an actual vehicle speed detected with asignal from the vehicle-speed sensor 240 is equal to or lower than thereference vehicle speed, the first control is performed. When the actualvehicle speed detected with the signal from the vehicle-speed sensor 240exceeds the reference vehicle speed, the second control is performed.

Examples of the first control and the second control are described withreference to FIG. 17. Angles from 0° to 360° shown in FIG. 17 areelectrical angles each representing an energization period in one cycleof an electrical signal. Positive represents energization from thepositive pole, and negative represents energization from the negativepole. FIG. 17A depicts an example of the first control. In the U phase,energization starts from the positive pole at 30° with 0° taken as areference position, energization is kept in a range of an electricalangle of 120°, and then energization from the positive pole ends.Furthermore, energization from the negative pole starts at an intervalof a predetermined electrical angle after energization from the positivepole ends, energization is kept in a range of an electrical angle of120°, and then energization ends.

On the other hand, in the V phase, energization from the positive polestarts at the time when energization from the positive pole in the Uphase ends. After energization is kept in a range of an electrical angleof 120°, energization ends. Furthermore, in the V phase, energizationfrom the negative pole starts at the time when energization from thenegative pole in the U phase ends. After energization from the negativepole is kept in a range of an electrical angle of 120 degrees, and thenenergization from the negative pole ends. Furthermore, in the W phase,energization from the positive pole starts at the time when energizationfrom the positive pole in the V phase ends. After energization from thepositive pole is kept in a range of an electrical angle of 120 degrees,energization from the positive pole ends. Furthermore, in the W phase,energization from the negative pole starts at the time when energizationfrom the negative pole in the V phase ends. After energization from thenegative pole is kept in a range of an electrical angle of 120 degrees,energization from the negative pole ends. As such, in the first control,ranges in which energization from the positive pole and energizationfrom the negative pole are kept, that is, energization angles, are both120°.

Next, description is made on the basis of FIG. 17B showing an example ofthe second control. In the U phase, energization from the positive polestarts at 0°. After energization from the positive pole is kept in arange of an electrical angle of 120+α degrees, energization from thepositive pole ends. Furthermore, energization from the negative polestarts after energization from the positive pole ends. Afterenergization from the negative pole is kept in a range of an electricalangle of 120+α degrees, energization from the negative pole ends.

In the V phase, energization from the positive pole starts whileenergization from the positive pole in the U phase is being performed.Furthermore, after energization from the positive pole is kept in arange of an electrical angle of 120+α degrees, energization from thepositive pole ends. Furthermore, energization from the negative polestarts after energization from the positive pole ends and whileenergization from the negative pole in the U phase is being kept. Afterenergization from the negative pole is kept in a range of an electricalangle of 120+α degrees, energization from the negative pole ends.

In the W phase, energization from the positive pole starts whileenergization from the negative pole in the U phase and whileenergization from the positive pole in the V phase are being performed.Furthermore, after energization from the positive pole is kept in arange of an electrical angle of 120+α degrees, energization from thepositive pole ends. Furthermore, energization from the negative polestarts after energization from the positive pole ends, whileenergization from the positive pole in the U phase is being kept, andwhile energization from the negative pole in the V phase is being kept.After energization from the negative pole is kept in a range of anelectrical angle of 120+α degrees, energization from the negative poleends. In FIG. 17B, each of a portion where energization of the positivepole in the U phase and that in the V phase overlap, a portion whereenergization thereof in the V phase and that in the W phase overlap, anda portion where energization thereof in the W phase and that in the Vphase overlap is a range of a. The same goes for energization of thenegative pole.

Furthermore, another example of the second control will be describedhereinafter on the basis of FIG. 17C. In the U phase, energization fromthe positive pole starts from an electrical angle exceeding 0 degreesand smaller than 30 degrees. After energization from the positive poleis kept in a range of an electrical angle of 120+α degrees, energizationfrom the positive pole ends. Note that energization control in thenegative pole of the U phase, energization control in the positive poleand the negative pole of the V phase, and energization control in thepositive pole and the negative pole of the W phase are the same as thosein FIG. 17B. Furthermore, an energization angle of 120+α degrees meansthat the energization angle has a value exceeding 120 degrees. In thisembodiment, the energization angle of the brushless motor 219 iscontrolled in a range equal to or larger than 120° and equal to orsmaller than 180 degrees.

As such, the energization angle in the examples of the second control iswider than the energization angle in the example of the first control.That is, the first control and the second control have differentenergization angles. In FIG. 17C, each of a portion where energizationof the positive pole in the U phase and that in the V phase overlap, aportion where energization thereof in the V phase and the W phaseoverlap, and a portion where energization thereof in the W phase and theV phase overlap is a range of α. The same goes for energization of thenegative pole.

And, together with the first control or the second control, theduty-ratio control described above is performed to control the rotationnumber of the rotor shaft 222 a. FIG. 18 is a diagram showingcharacteristics of the brushless motor 219. A standalone characteristicof the brushless motor 219 is indicated by a solid line. And, bycontrolling the energization angle of the brushless motor 219, anapparent characteristic can be positioned as indicated by aone-dot-chain line. The standalone characteristic represents acharacteristic satisfying a target output when the actual vehicle speedof the vehicle 210 is equal to or lower than the reference vehiclespeed, that is, a low-speed characteristic. The apparent characteristicrepresents a characteristic satisfying a target output when the actualvehicle speed of the vehicle 210 exceeds the reference vehicle speed,that is, a high-speed characteristic. The target output is representedby the rotation number and torque of the rotor shaft 222 a. Conditionfor determining the target output include the operation signal of thewiper switch 237, the traveling speed of the vehicle 210, operatingpositions of the wiper arms 214 and 216, etc.

In the brushless motor 219 of this embodiment, when the target outputhas a characteristic identical to or below the standalonecharacteristic, the first control is performed, and the duty ratio iscontrolled, thereby decreasing the rotation number of the rotor shaft222 a and obtaining a low-speed characteristic. In contrast, when thetarget output is a characteristic exceeding the standalonecharacteristic, the second control is performed to increase the rotationnumber of the rotor shaft 222 a, and control the duty ratio, therebyobtaining the high-speed characteristic. Thus, the rating in design ofthe brushless motor 219 can be determined with reference to thestandalone characteristic, and the brushless motor 219 can be reduced insize as much as possible. With the energization angle widened withoutchanging the current value of the brushless motor 219, the rotationnumber of the rotor shaft 222 a is increased to increase torque, whichmeans that the torque constant is relatively increased. In other words,the brushless motor 219 of this embodiment can generate high torque asmuch as possible with less power consumption, thereby improving motorefficiency. Furthermore, when the output of the brushless motor 219 isassumed to be constant, power consumption can set low.

Furthermore, the rating of the brushless motor 219 can be decreased asmuch as possible, and this means that the thickness of each of thearmature coils 221 a, 221 b, and 221 c is made thin as much as possible.As a result, the number of turns of each of the armature coils 221 a,221 b, and 221 c wound around the stator 221 increases, and electricalresistance as the brushless motor 219 relatively increases. Thus, forexample, the current flowing through the switching element 230 a whenthe driving device 233 is out of order, that is, an allowable current,can be relatively decreased. The allowable current in the switchingelement 230 a is relatively decreased, thereby contributing to adecrease in size of the driving device 233. Thus, this contributes to adecrease in size of the brushless motor 219, and there is a merit inimproving layoutability in placing the brushless motor 219 inside anengine room of the vehicle 210.

Here, an example of a relation between characteristics and energizationangle of the brushless motor 219 will be described on the basis of FIG.19. The characteristics of the brushless motor 219 are represented bythe rotation number and torque. In FIG. 19, the relations correspondingto angles of 120, 135, 150 and 165 degrees are shown as energizationangle. As shown in FIG. 19, the brushless motor 219 has characteristicsin which the rotation number increases as the energization angleincreases, when torque is assumed to be the same.

Next, another example of the condition for performing the first andsecond controls will be sequentially described. For example, as shown inFIG. 20, the first control and the second control can be performed onthe basis of the operating angle of the rotor shaft 222 a obtained fromthe detection signal from the Hall IC 239. In FIG. 20, the vertical axisrepresents the rotation number of the rotor shaft 222 a, and thehorizontal shaft represents the operating angle. The rotation number ofthe rotor shaft 222 a is indicated by a solid line. The operating angleincludes the operating angle of the rotor shaft 222 a corresponding tothe operating positions of the wiper arms 214 and 216.

As will be specifically described below, the operating angle of therotor shaft 222 a is a rotation angle when the wiper arms 214 and 216shown in FIG. 13 operate from initial positions closest to the brushlessmotor 219, that is, predetermined positions. The maximum value of theoperating angle of the rotor shaft 222 a corresponds to positions wherethe wiper arms 214 and 216 are reversed. That is, as the operatingpositions of the wiper arms 214 and 216 are further away from thebrushless motor 219, the operating angle of the rotor shaft 222 a isincreased. Here, when the wiper arms 214 and 216 starts motions from theinitial positions, the rotation number increases as the operating angleof the rotor shaft 222 a increases. Between an operating angle θ1 and anoperating angle θ2, the rotation number of the rotor shaft 222 a isapproximately constant. Then, between the operating angle θ2 and themaximum value, the rotation number of the rotor shaft 222 a graduallydecreases.

In contrast to the above, when the wipers 214 and 216 are reversed, therotation number of the rotor shaft 22 a increases between the maximumvalue and the operating angle θ. Furthermore, between the operatingangle θ2 and the operating angle θ1, the rotation number of the rotorshaft 222 a is approximately constant. Then, between the operating angleθ1 and the initial position, the rotation number of the rotor shaft 222a gradually decreases. Then, the first control can be performed with theoperating angle θ1, and the second control can be performed with theoperating angle θ2. Here, the operating angle θ2 is larger than theoperating angle θ1. Note that in performing the first control and thesecond control on the basis of the operating angle of the wiper arms 214and 216, the operating angle of the wiper arms 214 and 216 can be foundon the basis of the detection signal from the output shaft sensor 236.

Furthermore, another example of the condition for performing the firstcontrol and the second control will be described on the basis of FIG.21. Here, the first control and the second control can be performed onthe basis of the rotation number of the rotor shaft 222 a obtained fromthe detection signal from the Hall IC 239. In FIG. 21, the vertical axisrepresents the rotation number, and the horizontal axis represents time.The rotation number is indicated by a solid line. The time shown in FIG.21 means an elapsed time from the time when the wiper arms 214 and 216operate from the initial positions to the time when they reach reversepositions. And, the first control is performed when the actual rotationnumber of the rotor shaft 222 a is equal to a rotation speed N1, and thesecond control is performed when the actual rotation number of the rotorshaft 222 a is equal to a rotation speed N2. Here, the rotation speed N2is larger than the rotation speed N1.

As the rotation number shown in FIG. 21, the rotation number of theoutput shaft 226 can be used. That is, with the rotation number of theoutput shaft 226 obtained from the signal from the output shaft sensor236, the first control and the second control can be performed. Withthis control, switching is made between the first control and the secondcontrol on the basis of the operation speed of the wiper arms 214 and216.

Note that when the rotor shaft 222 a starts to rotate from a positioncorresponding to the initial positions of the wiper arms 214 and 216,the rotation number of the rotor shaft 222 a increases with the lapse oftime. Then, the rotation number of the rotor shaft 222 a is keptconstant for a predetermined period of time, and the rotation number ofthe rotor shaft 222 a is gradually decreased. When the wiper arms 214and 216 return from their reverse positions, the characteristic inchange of the rotation number is opposite to the above.

Furthermore, another example of the condition for performing the firstcontrol and the second control will be described on the basis of FIG.22. Here, the first control and the second control are performed on thebasis of the rotation number of the rotor shaft 222 a detected by theHall IC 239. In FIG. 22, the vertical axis represents the rotationnumber of the rotor shaft 222 a, and the horizontal axis representstime. The time shown in FIG. 22 means the same as the time shown in FIG.21. And, the first control is performed at a time t1 when apredetermined time elapses from the time when the wiper arms 214 and 216start operation from the initial positions. Furthermore, the secondcontrol is performed at a time t2 when a predetermined time furtherelapses from the time t1. Note that the rotation number of the outputshaft 226 detected by the output shaft sensor 236 can be used as therotation number in FIG. 22. That is, switching can be made between thefirst control and the second control on the basis of the operation speedof the wiper arms 214 and 216.

Furthermore, another example of the condition for performing the firstcontrol and the second control will be described on the basis of FIG.23. FIG. 23A shows second control corresponding to high-speed wiping,and FIG. 23B shows first control corresponding to low-speed wiping.Here, FIGS. 23A and 23B shows controls of changing the advance angle andthe energization angle when the operating angle θ is changed for bothvehicle speeds. Furthermore, the amount of change of the advance angleand the energization angle with respect to the amount of change of theoperating angle θ may be the same for all vehicle speeds, or may bechanged for each vehicle speed.

Next, an example of the structure of the rotor 222 for use in thebrushless motor 219 will be described on the basis of FIG. 24. Thestructure of the rotor 222 of the brushless motor 219 includes an IPM(Interior Permanent Magnet) structure and a SPM (Surface PermanentMagnet) structure. The IPM structure is a structure of the rotor 222with the permanent magnets 222 b buried inside the rotor core 222 d, asin FIG. 24A. The SPM structure is a structure of the rotor 222 with thepermanent magnets 222 b fixed to the surface of the rotor core 222 d, asin FIG. 24B. That is, in the rotor 222 of the IPM structure, the rotorcore 222 d formed of an iron-based magnetic material is placed on thesurface of the rotor 222. In contrast, in the rotor 222 of the SPMstructure, the permanent magnets 222 b are placed on the surface of therotor 222. And, while the magnetic permeability of the iron-basedmagnetic material is large on the order of 10³ with respect to air, themagnetic permeability of the permanent magnets are close to that of airin value. Therefore, the rotor 222 of the SPM structure has aninductance smaller than that of the rotor 222 of the IPM structure.

In the control of the brushless motor 219 of this embodiment, since theenergization angle is enlarged more than general 120 degrees, anon-energization section of each phase is narrowed. Thus, to quickencurrent switching, it is desired to decrease a current delay section atthe time of OFF of the switching element due to inductance. Thus, as thestructure of the rotor 222, the SPM structure is preferred to the IPMstructure.

Furthermore, even when the rotor 222 is of the SMP structure, if ferritemagnets are used as the permanent magnets 222 b, the axial length of amagnetic circuit to be formed is increased. In general, the inductancein an armature coil is proportional to the axial length of a magneticcircuit. Therefore, when ferrite magnets are used as the permanentmagnets 222 b, inductance in the armature coils 221 a, 221 b, and 221 cis large. In contrast, if the rotor 222 is of the SPM structure usingrare-earth sintered magnets as the permanent magnets 222 b, the axiallength of the magnetic circuit to be formed is decreased, and inductancein the armature coils can be reduced. However, since the rare-earthsintered magnets include expensive heavy rare earth elements (Dy, Tb),the brushless motor 219 becomes expensive.

Thus, as the permanent magnets 222 b, it is preferable to use ringmagnets of rare-earth-bonded magnets capable of a short axial length ofthe magnetic circuit to be formed and not including a heavy rare earthelement. Here, the rare-earth-bonded magnets include a neodymium-bondedone and a SmFeN-bonded one. Furthermore, the neodymium-bonded one andthe SmFeN-bonded one both include isotropic and anisotropic ones.

Next, the number of permanent magnets to be mounted on the rotor, thatis, the number of poles, and the number of slots of the stator havingarmature coils wound therearound are described. When a ratio between thenumber of poles and the number of slots is represented as the number ofpoles: the number of slots, relations are broadly classified into 2n:3n,4n:3n, 8n:9n, 10n:9n, 10n:12n, and 14n:12n. Here, n is an integer equalto or larger than 1. In the structures of 8n:9n, 10n:9n, 10n:12n, and14n:12n, positional relations between the armature coils of the samephase and the permanent magnets vary. Therefore, by providing an advanceangle to the energization timing or enlarging the energization angle,the phase of energization advances with respect to a base value. Thus,the permanent magnets tend to be demagnetized.

FIG. 25 is a schematic view showing an example of the rotor and thestator corresponding to six poles and nine slots, and FIG. 26 is aschematic view showing an example of the rotor and the statorcorresponding to eight poles and nine slots. That is, FIG. 25 depicts anexample when 2n:3n described above and n is 3. In FIG. 25 and FIG. 26, Vrepresents a V phase, U represents a U phase, and W represents a Wphase. Furthermore, a sign of “−” in each phase indicates that thearmature coil is wound in reverse. Furthermore, FIG. 26 depicts anexample when 8n:9n and n is 1. In FIG. 25, positional relations betweenarmature coils U1, U2, and U3 of the same phase and the permanentmagnets 222 b are identical in a circumferential direction. Thus, whenan advance angle setting value of the energization timing is set as anelectrical angle θ1, the advance angle of each armature coil isrepresented by

U1:θ1=U2:θ1=U3:θ1.

In contrast, in FIG. 26, positional relations between the armature coilsU1, U2, and U3 of the same phase and the permanent magnets 222 b vary inthe circumferential direction. Thus, when an advance angle setting valueof the energization timing is set as an electrical angle θ1, the advanceangle of each armature coil is represented by

U1:θ1−20°=U2:θ1=U3:θ1+20°.

Note that the rotating direction of the rotor 222 is assumed to be aclockwise direction when viewed from an axial end on a worm wheel 225side, that is, CW. As such, the permanent magnets 222 b facing U3 have alarge advance angle, and therefore tends to be demagnetized.

Thus, to perform the first control and the second control, a brushlessmotor having a structure of 2n:3n or 4n:3n, where positional relationsbetween the armature coils of the same phase and the permanent magnetsare identical, is desirable. Furthermore, when the number of permanentmagnets increases, a mechanical influence of the electrical angle withrespect to the rotation angle increases. That is, the influence of delayof the current increases. Thus, with the same number of slots, astructure of 2n:3n is desirable, where the number of permanent magnetscan be reduced. Note that the driving device 233 and the stator 221 mayhave an integral structure or separate structure. However, the drivingdevice 233 and the stator 221 desirably have an integral structure so asto allow short wiring from the driving device 233 to the armature coilsand small wiring resistance.

Furthermore, when the duty ratio of the brushless motor 219 iscontrolled, motor efficiency, which is an example of motorcharacteristics, including the driving device 233, increases as the dutyratio increases. This is because loss due to the driving device 233increases as the duty ratio is lower. An example of relation betweenduty ratios and motor characteristics is shown in FIG. 27. In FIG. 27,the vertical axis represents the rotation number of the rotor shaft andmotor efficiency, and the horizontal axis represents torque of the rotorshaft. Furthermore, in FIG. 27, Duty represents duty ratios. Note inFIG. 27 that solid lines each represent a relation between torque andthe rotation number and broken lines each represent a relation betweentorque and efficiency.

In the brushless motor 219 of this embodiment, as a condition forswitching between the first control and the second control, theoperation of the wiper switch 237 can be used. When the amount ofrainfall or the amount of snowfall is small, the driver can operate thewiper switch 237 to select a low-speed wiping mode for causing the wiperarms 214 and 216 to operate at a predetermined low speed.

In contrast, when the amount of rainfall or the amount of snowfall islarge, the driver can operate the wiper switch 237 to select ahigh-speed wiping mode for causing the wiper arms 214 and 216 to operateat a speed higher than the low speed. The driver determines whether theamount of rainfall or the amount of snow fall is large or small on thebasis of his or her personal point of view, and there is no objectivecriterion for distinguishing between a large amount and a small amountof rainfall or snowfall. As a premise for allowing switching between thehigh-speed wiping mode and the low-speed wiping mode with the wiperswitch 237, the first control can be performed when the low-speed wipingmode is selected and the second control can be performed when thehigh-speed wiping mode is selected.

Furthermore, since the brushless motor 219 of this embodiment is notprovided with a brush, a commutator (commutator), etc., friction torquedue to sliding between a brush and a commutator does not occur, therebypreventing a decrease in efficiency of the motor and an increase intemperature of the brush and avoiding restriction of motor output.Furthermore, in the brushless motor 219 of this embodiment, theoccurrence of noise and the occurrence of operation sound due to thepresence of the brush can be prevented, and silence can be ensured. Notethat while the description in the above-described embodiment is suchthat switching is made between the first control and the second controlon the basis of the rotation number, torque, or operating angle of therotor shaft 222 a, the rotor shaft 222 a is an element configuring partof the rotor 222, and therefore the same technical meaning can beachieved if the rotor shaft 222 a described in the above-describedembodiment is replaced by the rotor 222.

It goes without saying that the present invention is not limited to theabove-described embodiment and can be variously modified within a rangenot deviating from the gist of the invention. For example, the wiperapparatus includes the structure in which the rotor shaft of thebrushless motor is rotated only in one direction to cause the wiper armsto swing on a pivot shaft. Furthermore, the wiper switch is not limitedto the one operated by operation of the driver, and may be a detectionswitch having a function of detecting the amount of rainfall, the amountof snowfall, etc. With the structured described above, the rotationspeed control unit automatically starts the wiper apparatus on the basisof the amount of rainfall, the amount of snowfall, etc., and performscontrol of automatically switching between the low-speed wiping mode andthe high-speed mode. In this case, the rotation speed control unit hasstored in advance therein data such as the amount of rainfall, theamount of snowfall, etc., which serve as a reference for switchingbetween the low-speed mode and the high-speed mode.

Furthermore, the vehicle-speed sensor which detects a travelling speedof the vehicle may not directly detect the traveling speed of thevehicle but may detect it from information transmitted from the wiperblade to the wiper apparatus or information indirectly transmitted tothe brushless motor, such as resistance and the state of a wipe surface.Here, the resistance include resistance received by the wiper blade dueto travelling wind and resistance when the wipe surface is wiped, andthe wiper apparatus detects the resistance, the state of the wipesurface, etc., from the wiper blade via the output shaft. Furthermore,the information indirectly transmitted to the brushless motor is torecognize information obtained from the resistance, the state of thewipe surface, etc., as a traveling speed of the vehicle, and is detectedby being converted so as to be detected by the driving device as atraveling speed of the vehicle. Furthermore, the number of armaturecoils and the number of permanent magnets can be changed at will.

Furthermore, the wiper apparatus of the present invention includes onein which a wiper blade wipes the rear windshield. That is, thewindshield in the wiper apparatus of the present invention includes awindshield and a rear windshield. Furthermore, the wiper apparatus ofthe present invention includes the structure in which the output shaftprovided coaxially with the worm wheel serves as a pivot shaft.Furthermore, the wiper apparatus of the present invention includes thestructure in which two wiper arms are individually driven by separatebrushless motors.

Furthermore, the brushless motor of the present invention includes aninner rotor type brushless motor having the rotor located inside thestator or an outer rotor type brushless motor having the rotor placedoutside the stator. Furthermore, in addition to a wiper motor whichoperates a wiper apparatus, the brushless motor of the present inventionincludes, in a convenient-and-comfortable-type device provided in avehicle, for example, a power sliding door device, a sun roof device, ora power window device, a brushless motor provided to operate anoperating member such as a door, roof, or windshield.

The brushless motor is used as a driving source of a wiper apparatus orthe like mounted on a vehicle such as an automobile. With the brushlessmotor driven to rotate, the wiper blade performs reciprocating wipingoperation on the windshield surface, thereby favorably keeping the fieldof view of the driver or the like.

While the present invention has been illustrated and described withrespect to a particular embodiment thereof, it should be appreciated bythose of ordinary skill in the art that various modifications to thisinvention ma be made without departing from the spirit and scope of thepresent.

What is claimed is:
 1. A brushless wiper motor comprising: a cylindricalcase; a frame having an opening which is connected to the case; and acover which covers the opening of the frame, wherein a stator and arotor are housed in the case, the stator having a plurality of armaturecoils, the rotor being located inside the stator and rotatably supportedby the case, the rotor having: a rotating shaft formed with a worm; andpermanent magnets having alternately-arranged poles, a worm wheel ishoused in the frame, the worm wheel having: a gear meshed with the wormof the rotating shaft and adapted to reduce a rotation of the rotor; anoutput shaft adapted to output the reduced rotation; and an output shaftsensor adapted to detect a signal of either or both the reduced rotationand an absolute position of the output shaft, a control board is fixedto the cover, a plurality of switching elements being arranged on thecontrol board and adapted to drive and control the rotation of therotor, a driving device is provided on the control board, the drivingdevice having: an inverter circuit adapted to control energization ofthe armature coils; a control circuit adapted to receive the signal ofeither or both the reduced rotation and the absolute position of theoutput shaft detected by the output shaft sensor, and to perform ON/OFFswitching control of the switching elements; a PWM signal generatingcircuit adapted to generate a signal which is inputted to the controlcircuit, and an induced voltage detecting unit electrically connected tothe armature coils and adapted to detect induced voltages which aregenerated in the armature coils by the rotation of the rotor, a patternfor a first control of the switching elements is stored in the controlcircuit, and to control the rotation of the rotor in a first controlmode, the pattern for the first control causes the switching elements tosupply current to the armature coils at predetermined energizationtiming on the basis of a signal detected by the induced voltagedetecting unit, a pattern for a second control of the switching elementsis stored in the control circuit, and to control the rotation of therotor in a second control mode, the pattern for the second controlcauses the switching elements to supply current to the armature coils atenergization timing advanced from the energization timing for the firstcontrol mode, to form a weakened revolving magnetic field which issmaller than a revolving magnetic field for the first control mode, todecrease a back electromotive force of the armature coils, and toincrease the rotation number of the rotor, the ON/OFF switching controlof the switching elements is performed so as to rotate the rotor forwardand backward.
 2. The brushless wiper motor according to claim 1, whereinthe energization timing of the switching elements in the second controlmode is advanced from the energization timing of the switching elementsin the first control mode by an electric angle of 30 degrees.
 3. Thebrushless wiper motor according to claim 1, wherein a Hall element ismounted on the control board and arranged so as to face a sensor magnetfixed to the rotating shaft of the rotor and adapted to detect therotation of the rotor.
 4. The brushless wiper motor according to claim1, wherein a vehicle speed sensor is mounted on the control board. 5.The brushless wiper motor according to claim 1, wherein the switchingelements are composed of a plurality of field effect transistors.
 6. Abrushless wiper motor comprising: a cylindrical case; a frame having anopening which is connected to the case; and a cover which covers theopening of the frame, wherein a stator and a rotor are housed in thecase, the stator having a plurality of armature coils, the rotor beinglocated inside the stator and rotatably supported by the case, the rotorhaving: a rotating shaft formed with a worm; and permanent magnetshaving alternately-arranged poles, a worm wheel is housed in the frame,the worm wheel having: a gear meshed with the worm of the rotating shaftand adapted to reduce a rotation of the rotor; an output shaft adaptedto output the reduced rotation; and an output shaft sensor adapted todetect a signal of either or both the reduced rotation and an absoluteposition of the output shaft, a control board is fixed to the cover, aplurality of switching elements being arranged on the control board andadapted to drive and control the rotation of the rotor, a driving deviceis provided on the control board, the driving device having: an invertercircuit adapted to control energization of the armature coils; a controlcircuit adapted to receive the signal of either or both the reducedrotation and the absolute position of the output shaft detected by theoutput shaft sensor, and to perform ON/OFF switching control of theswitching elements; a PWM signal generating circuit adapted to generatea signal which is inputted to the control circuit, and an inducedvoltage detecting unit electrically connected to the armature coils andadapted to detect induced voltages which are generated in the armaturecoils by the rotation of the rotor, data for a first control of theswitching elements is stored in the control circuit, and to control therotation of the rotor in a first control mode, the data for the firstcontrol causes the switching elements to supply current to the armaturecoils at predetermined energization timing on the basis of a signaldetected by the induced voltage detecting unit, data for a secondcontrol of the switching elements is stored in the control circuit, andto control the rotation of the rotor in a second control mode, the datafor the second control causes the switching elements to supply currentto the armature coils at energization timing advanced from theenergization timing for the first control mode, to form a weakenedrevolving magnetic field which is smaller than a revolving magneticfield for the first control mode, to decrease a back electromotive forceof the armature coils, and to increase the rotation number of the rotor,the ON/OFF switching control of the switching elements is performed soas to rotate the rotor forward and backward.
 7. The brushless wipermotor according to claim 6, wherein the energization timing of theswitching elements in the second control mode is advanced from theenergization timing of the switching elements in the first control modeby an electric angle of 30 degrees.
 8. The brushless wiper motoraccording to claim 6, wherein a Hall element is mounted on the controlboard and arranged so as to face a sensor magnet fixed to the rotatingshaft of the rotor and adapted to detect the rotation of the rotor. 9.The brushless wiper motor according to claim 6, wherein a vehicle speedsensor is mounted on the control board.
 10. The brushless wiper motoraccording to claim 6, wherein the switching elements are composed of aplurality of field effect transistors.
 11. A brushless wiper motorcomprising: a cylindrical case; a frame having an opening which isconnected to the case; and a cover which covers the opening of theframe, wherein a stator and a rotor are housed in the case, the statorhaving a plurality of armature coils, the rotor being located inside thestator and rotatably supported by the case, the rotor having: a rotatingshaft formed with a worm; and permanent magnets havingalternately-arranged poles, a worm wheel is housed in the frame, theworm wheel having: a gear meshed with the worm of the rotating shaft andadapted to reduce a rotation of the rotor; an output shaft adapted tooutput the reduced rotation; and an output shaft sensor adapted todetect a signal of either or both the reduced rotation and an absoluteposition of the output shaft, a control board is fixed to the cover, aplurality of switching elements being arranged on the control board andadapted to drive and control the rotation of the rotor, a driving deviceis provided on the control board, the driving device having: an invertercircuit adapted to control energization of the armature coils; a controlcircuit adapted to receive the signal of either or both the reducedrotation and the absolute position of the output shaft detected by theoutput shaft sensor, and to perform ON/OFF switching control of theswitching elements; a PWM signal generating circuit adapted to generatea signal which is inputted to the control circuit, and an inducedvoltage detecting unit electrically connected to the armature coils andadapted to detect induced voltages which are generated in the armaturecoils by the rotation of the rotor, an arithmetic expression for a firstcontrol of the switching elements is stored in the control circuit, andto control the rotation of the rotor in a first control mode, thearithmetic expression for the first control causes the switchingelements to supply current to the armature coils at predeterminedenergization timing on the basis of a signal detected by the inducedvoltage detecting unit, an arithmetic expression for a second control ofthe switching elements is stored in the control circuit, and to controlthe rotation of the rotor in a second control mode, the arithmeticexpression for the second control causes the switching elements tosupply current to the armature coils at energization timing advancedfrom the energization timing for the first control mode, to form aweakened revolving magnetic field which is smaller than a revolvingmagnetic field for the first control mode, to decrease a backelectromotive force of the armature coils, and to increase the rotationnumber of the rotor, the ON/OFF switching control of the switchingelements is performed so as to rotate the rotor forward and backward.12. The brushless wiper motor according to claim 11, wherein theenergization timing of the switching elements in the second control modeis advanced from the energization timing of the switching elements inthe first control mode by an electric angle of 30 degrees.
 13. Thebrushless wiper motor according to claim 11, wherein a Hall element ismounted on the control board and arranged so as to face a sensor magnetfixed to the rotating shaft of the rotor and adapted to detect therotation of the rotor.
 14. The brushless wiper motor according to claim11, wherein a vehicle speed sensor is mounted on the control board. 15.The brushless wiper motor according to claim 11, wherein the switchingelements are composed of a plurality of field effect transistors.